Dynamic stabilization for a nonlinear system with uncontrollable unstable linearization

제어불가능 불안정 선형화를 가지는 비선형 시스템에 대한 다이나믹 안정화

  • 서상보 (서울대 공대 전기컴퓨터공학부) ;
  • 서진헌 (서울대 공대 전기컴퓨터공학부) ;
  • 심형보 (서울대 공대 전기컴퓨터공학부)
  • Published : 2009.05.07

Abstract

In this paper, we design a dynamic state feedback smooth stabilizer for a nonlinear system whose Jacobian linearization may have uncontrollable because its eigenvalues are on the right half-plane. After designing an augmented system, a dynamic exponent scaling and backstepping enable one to explicitly design a smooth stabilizer and a continuously differentiable Lyapunov function which is positive definite and proper.

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